从两者的XML文件中来看,RxPdo都是0x1600索引下,TxPdo都是在0x1A00下.别的驱动器未知,我这里就这两个 至于这两者分配到哪,就要看SM2与SM3了,两个驱动器也一样,都是0x1C12与0x1C13: 因此,ec_SDOwrite要先在0x1C12下写入RxPdo数量,我这里只有1组,就是0x1600,于是写[1]. 然后写[0x1600].再在0x1600...
ec_config_init 获取连接的从站个数,获取从站的信息并将从站的信息填充到ec_slave结构体 ec_config_map SOEM通过函数ec_config_map(&IOmap)完成逻辑地址和物理地址的映射,应用程序需要定义一个数组IOmap,完成映射后,应用程序就可以通过读写数组IOmap[]来完成与从站的数据交换。 首先获取每一个从站的RXPDO和TXPO...
RX: %d, MapNumTX: %d\r\n", MapNumRX, MapNumTX); retval += ec_SDOwrite(slave, 0x1c12, 0x00, FALSE, sizeof_uint8, &MapNumRX, EC_TIMEOUTSAFE); retval += ec_SDOwrite(slave, 0x1c13, 0x00, FALSE, sizeof_uint8, &MapNumTX, EC_TIMEOUTSAFE); printf("Done Configuring PDO ...
ec_receive_processdata(EC_TIMEOUTRET); // 检查工作计数器是否符合预期 if (wkc >= expectedWKC) { // 在这里添加你的应用逻辑,处理接收到的数据和发送新的数据 // 例如,读取和写入过程数据对象(PDO) // 读取输入数据 uint16_t input_data = EC_READ_U16(IOmap + 0x00); // 写入输出数据 EC_WRITE...
ec_statecheck函数检查从站是否达到指定的状态,EC_TIMEOUTSTATE是超时参数。 ec_send_processdata函数发送过程数据,ec_receive_processdata函数接收过程数据。 数据处理: 在操作状态下,可以处理过程数据对象(PDO),例如读取和写入数据: case ECAT_STATE_OP: ec_send_processdata(); ec_receive_processdata(EC_TIMEOUTRE...
- Added CoE, RxPDO and TxPDO (still Beta) - Added FoE, Read and Write (still Beta) - Fixed BigEndian conversion missing in ethercatconfig.c (credit:Serge Bloch) - Fixed segmented transfer bug in ethercatcoe.c Version 1.1.4 : 2009-04-22 - Changed FMMU configuration algorithm - Changed...
if (ec_init(ifname) > 0) SOEM is a light weight ethercat master library used in embedded systems, It supports only runtime configuration. It requests a BRD (Broad Cast Read) of address 0, all fully functional slaves in the network will respond to this request, and therefore we will get...
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